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https://bitbucket.org/librepilot/librepilot.git
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41fd921b14
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@375 ebee16cc-31ac-478f-84a7-5cbb03baadba
101 lines
2.5 KiB
C
101 lines
2.5 KiB
C
/**
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******************************************************************************
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*
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up and runs main OpenPilot tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* OpenPilot Includes */
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#include "openpilot.h"
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/* Task Priorities */
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/* Global Variables */
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/* Local Variables */
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/* Function Prototypes */
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static void TaskTesting(void *pvParameters);
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/**
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* Test Main function
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*/
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int main()
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{
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// Init
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PIOS_SYS_Init();
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PIOS_DELAY_Init();
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PIOS_COM_Init();
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PIOS_ADC_Init();
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PIOS_I2C_Init();
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xTaskCreate(TaskTesting, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
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// Start the FreeRTOS scheduler
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vTaskStartScheduler();
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// Should not get here
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PIOS_DEBUG_Assert(0);
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return 0;
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}
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static void TaskTesting(void *pvParameters)
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{
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portTickType xDelay = 500 / portTICK_RATE_MS;
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portTickType xTimeout = 10 / portTICK_RATE_MS;
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PIOS_BMP085_Init();
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for(;;)
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{
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PIOS_LED_Toggle(LED2);
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int16_t temp;
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int32_t pressure;
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PIOS_BMP085_StartADC(TemperatureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_BMP085_StartADC(PressureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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temp = PIOS_BMP085_GetTemperature();
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pressure = PIOS_BMP085_GetPressure();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%3u,%4u\r", temp, pressure);
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vTaskDelay(xDelay);
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}
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}
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/**
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* Idle hook function
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*/
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void vApplicationIdleHook(void)
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{
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/* Called when the scheduler has no tasks to run */
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}
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